Merged in fix/ExpmapArgument (pull request #204)

Correct Expmap argument
2016-01-18 00:52:52 -08:00 · 2016-01-18 00:52:52 -08:00 · 43334e0f8b
parent af40679dbf e6b9c6fc95
commit 43334e0f8b
1 changed files with 1 additions and 1 deletions
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@ -310,7 +310,7 @@ namespace gtsam {
     * Exponential map at identity - create a rotation from canonical coordinates
     * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula
     */
-    static Rot3 Expmap(const Vector& v, OptionalJacobian<3,3> H = boost::none) {
+    static Rot3 Expmap(const Vector3& v, OptionalJacobian<3,3> H = boost::none) {
      if(H) *H = Rot3::ExpmapDerivative(v);
 #ifdef GTSAM_USE_QUATERNIONS
      return traits<Quaternion>::Expmap(v);